From 6a0191ff9cbcdc6248f0254e5aa5979387f152ff Mon Sep 17 00:00:00 2001
From: kj16609 <bigskyman02@gmail.com>
Date: Thu, 3 Oct 2024 17:20:27 -0400
Subject: [PATCH] Fixes rotation loading being incorrect in gltf loader
 (w,x,y,z) -> (x,y,z,w)

---
 .../assets/model/builders/SceneBuilder.cpp    | 75 +++++++++++--------
 src/engine/debug/logging/formatters/glm.cpp   | 14 ++++
 src/engine/debug/logging/formatters/glm.hpp   | 17 +++++
 src/engine/debug/logging/logging.hpp          |  1 +
 4 files changed, 76 insertions(+), 31 deletions(-)
 create mode 100644 src/engine/debug/logging/formatters/glm.cpp
 create mode 100644 src/engine/debug/logging/formatters/glm.hpp

diff --git a/src/engine/assets/model/builders/SceneBuilder.cpp b/src/engine/assets/model/builders/SceneBuilder.cpp
index 93929f8..59b136b 100644
--- a/src/engine/assets/model/builders/SceneBuilder.cpp
+++ b/src/engine/assets/model/builders/SceneBuilder.cpp
@@ -461,17 +461,50 @@ namespace fgl::engine
 	{
 		const auto node { root.nodes[ node_idx ] };
 
-		const glm::vec3 translation { convertToVec3( node.translation ) };
-		const glm::quat rotation { static_cast< float >( node.rotation[ 0 ] ),
-			                       static_cast< float >( node.rotation[ 1 ] ),
-			                       static_cast< float >( node.rotation[ 2 ] ),
-			                       static_cast< float >( node.rotation[ 3 ] ) };
-		const glm::vec3 scale { convertToVec3( node.scale ) };
+		FGL_ASSERT( node.matrix.size() == 0, "No matrix handler in loadTransform" );
 
 		WorldTransform transform_component {};
-		transform_component.rotation = rotation;
-		transform_component.scale = scale;
-		transform_component.translation = WorldCoordinate( translation );
+
+		if ( node.rotation.size() == 4 )
+		{
+			const auto& x { node.rotation[ 0 ] };
+			const auto& y { node.rotation[ 1 ] };
+			const auto& z { node.rotation[ 2 ] };
+			const auto& w { node.rotation[ 3 ] };
+
+			// Quat is stored as (x,y,z,w) in gltf
+			const glm::quat rotation { static_cast< float >( w ),
+				                       static_cast< float >( x ),
+				                       static_cast< float >( y ),
+				                       static_cast< float >( z ) };
+
+			transform_component.rotation = rotation;
+		}
+		else if ( node.rotation.size() != 0 )
+		{
+			log::warn( "Invalid rotation size: {}", node.rotation.size() );
+			throw std::runtime_error( "Invalid rotation size" );
+		}
+
+		if ( node.scale.size() == 3 )
+		{
+			const glm::vec3 scale { convertToVec3( node.scale ) };
+			transform_component.scale = scale;
+		}
+		else if ( node.scale.size() != 0 )
+		{
+			log::warn( "Odd scale size: {}", node.scale.size() );
+		}
+
+		if ( node.translation.size() == 3 )
+		{
+			const glm::vec3 translation { convertToVec3( node.translation ) };
+			transform_component.translation = WorldCoordinate( translation );
+		}
+		else if ( node.translation.size() != 0 )
+		{
+			log::warn( "Odd translation size: {}", node.translation.size() );
+		}
 
 		return transform_component;
 	}
@@ -523,29 +556,9 @@ namespace fgl::engine
 
 		obj.addFlag( IS_VISIBLE | IS_ENTITY );
 
-		//TODO: Set transform from node
-		const std::vector< double > translation { node.translation };
-		const std::vector< double > rotation { node.rotation };
-		const std::vector< double > scale { node.scale };
+		const auto transform { loadTransform( node_idx, root ) };
 
-		if ( rotation.size() == 4 )
-			obj.getTransform().rotation = glm::quat(
-				static_cast< float >( rotation[ 0 ] ),
-				static_cast< float >( rotation[ 1 ] ),
-				static_cast< float >( rotation[ 2 ] ),
-				static_cast< float >( rotation[ 3 ] ) );
-
-		if ( scale.size() == 3 )
-			obj.getTransform().scale = glm::vec3(
-				static_cast< float >( scale[ 0 ] ),
-				static_cast< float >( scale[ 1 ] ),
-				static_cast< float >( scale[ 2 ] ) );
-
-		if ( translation.size() == 3 )
-			obj.getTransform().translation = WorldCoordinate(
-				static_cast< float >( translation[ 0 ] ),
-				static_cast< float >( translation[ 1 ] ),
-				static_cast< float >( translation[ 2 ] ) );
+		obj.getTransform() = transform;
 
 		if ( node.name.empty() )
 			obj.setName( "Unnamed Game Object" );
diff --git a/src/engine/debug/logging/formatters/glm.cpp b/src/engine/debug/logging/formatters/glm.cpp
new file mode 100644
index 0000000..64b4ee1
--- /dev/null
+++ b/src/engine/debug/logging/formatters/glm.cpp
@@ -0,0 +1,14 @@
+//
+// Created by kj16609 on 10/3/24.
+//
+
+#include "glm.hpp"
+
+#define GLM_ENABLE_EXPERIMENTAL
+#include <glm/gtx/quaternion.hpp>
+
+std::format_context::iterator std::formatter< glm::qua< float > >::format( const glm::quat& quat, format_context& ctx )
+	const
+{
+	return format_to( ctx.out(), "quat( w: {:10f}, x: {:10f}, y: {:10f}, z: {:10f} )", quat.w, quat.x, quat.y, quat.z );
+}
\ No newline at end of file
diff --git a/src/engine/debug/logging/formatters/glm.hpp b/src/engine/debug/logging/formatters/glm.hpp
new file mode 100644
index 0000000..6a87534
--- /dev/null
+++ b/src/engine/debug/logging/formatters/glm.hpp
@@ -0,0 +1,17 @@
+//
+// Created by kj16609 on 10/3/24.
+//
+
+#pragma once
+
+#include <glm/fwd.hpp>
+
+#include <format>
+
+template <>
+struct std::formatter< glm::quat >
+{
+	constexpr format_parse_context::iterator parse( format_parse_context& ctx ) { return ctx.begin(); }
+
+	format_context::iterator format( const glm::quat& quat, format_context& ctx ) const;
+};
\ No newline at end of file
diff --git a/src/engine/debug/logging/logging.hpp b/src/engine/debug/logging/logging.hpp
index 1c23ea2..b393fab 100644
--- a/src/engine/debug/logging/logging.hpp
+++ b/src/engine/debug/logging/logging.hpp
@@ -13,6 +13,7 @@
 
 #include "formatters/filesystem.hpp"
 #include "formatters/matrix.hpp"
+#include "formatters/glm.hpp"
 
 namespace fgl::engine::log
 {